Device and method for control of flexible link robot manipulators
First Claim
1. A method for controlling and dampening undesirable, vibrational movement within flexible linkage of a robot arm coupled to a moveable, controlled joint and attached drive motor, said method comprising the steps of:
- 1.1 determining a position displacement required to move the robot arm from the current position to a desired position;
1.2 activating the drive motor to reposition the robot arm to the desired position;
1.3 generating a position feedback signal to enable adjustment of the changing positions of the robot arm to efficiently move the arm toward the desired position;
1.4 detecting any elastic deflection arising within the robot arm;
1.5 generating a time dependent deflection signal proportional to a degree of elastic deflection of step 1.4;
1.6 generating a deflection feedback signal for input to the robot arm wherein the deflection feedback signal is approximately proportional to the deflection signal, multiplied by a gain whose value is selected to reduce further elastic deflection of the robot arm;
1.7 applying the deflection feedback signal to the robot arm to reduce further elastic deflection; and
1.8 continuously performing the procedures of steps 1.3 through 1.7 until the robot arm is properly located in the desired position.
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Abstract
A method and device for controlling and dampening undesirable vibrational movement within flexible linkage of a robot arm coupled to a movable, controlled joint and attached drive motor. The method includes the steps of providing position displacement and control in accordance with position and velocity feedback input. In addition, elastic deflection arising within the robot arm is detected and a time-dependent deflection signal proportional to the degree of elastic deflection is generated. A control algorithm develops deflection feedback signals for input to the robot arm which are approximately proportional to the deflection signal and its first two time derivatives, each multiplied by a gain whose value is selected to reduce further elastic deflection. This procedure is applied within flexible robot arm structure by incorporating elastic deflection detection components and by converting the detected deflection signal to deflection feedback signals for application to the drive system of the robot arm. Elastic deflections arising upon movement of the flexible arm structure are almost immediately nullified and the robot arm is allowed to reposition itself without interference from such undesirable forces and resultant robot arm movement.
138 Citations
19 Claims
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1. A method for controlling and dampening undesirable, vibrational movement within flexible linkage of a robot arm coupled to a moveable, controlled joint and attached drive motor, said method comprising the steps of:
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1.1 determining a position displacement required to move the robot arm from the current position to a desired position; 1.2 activating the drive motor to reposition the robot arm to the desired position; 1.3 generating a position feedback signal to enable adjustment of the changing positions of the robot arm to efficiently move the arm toward the desired position; 1.4 detecting any elastic deflection arising within the robot arm; 1.5 generating a time dependent deflection signal proportional to a degree of elastic deflection of step 1.4; 1.6 generating a deflection feedback signal for input to the robot arm wherein the deflection feedback signal is approximately proportional to the deflection signal, multiplied by a gain whose value is selected to reduce further elastic deflection of the robot arm; 1.7 applying the deflection feedback signal to the robot arm to reduce further elastic deflection; and 1.8 continuously performing the procedures of steps 1.3 through 1.7 until the robot arm is properly located in the desired position. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 14, 17, 18, 19)
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13. 2 combining the second time derivative voltage with the voltage of the deflection feedback signal;
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12.3 applying the to the drive motor to dampen elastic deflection within the robot arm.
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15. A device for controlling and dampening undesirable vibrational movement within flexible linkage of a robot arm coupled to a moveable, controlled joint and attached drive motor, said device comprising:
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14.1 computing means for determining the position displacement required to move the robot arm from the current position to a desired position; 14.2 a drive motor coupled to the robot arm and the computer means to reposition the robot arm to the desired position; 14.3 position feedback means in connection with the computer means for generating a position feedback signal to enable adjustment by the computer means of the changing positions of the robot arm to efficiently move the arm toward the desired position; 14.4 detecting means coupled to the robot arm for detecting any elastic deflection arising within the robot arm;
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16. 5 deflection signal generating means coupled to the detecting means and computer means for generating a deflection signal dependent in value upon the degree of elastic deflection experienced within the robot arm;
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14.6 deflection feedback means in connection with the computer means for generating a deflection feedback signal for input to the robot arm which is proportional to the deflection signal, multiplied by a gain which value is selected to reduce further elastic deflection within the robot arm; and 14.7 counter displacement means for applying the deflection feedback signal to the robot arm to reduce further deflection.
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Specification